CN114098867B

CN114098867B - Surgical instrument

Info

Publication number: CN114098867B
Application number: CN202010885687.7A
Authority: CN
Inventors: 孙宝峰; 范功远; 邹明明; 李正治
Original assignee: Fengh Medical Co ltd
Current assignee: Fengh Medical Co ltd
Priority date: 2020-08-28
Filing date: 2020-08-28
Publication date: 2024-01-16
Anticipated expiration: 2040-08-28
Also published as: CN114098867A

Abstract

The invention discloses a surgical instrument which is characterized by comprising a switching mechanism, a cutting driving mechanism and a cutting executing mechanism; the switching mechanism comprises a clutch mechanism and an output piece; the cutting driving mechanism comprises a driving piece and a driven piece, the driving piece comprises a first motion conversion structure, the driven piece comprises a second motion conversion structure, the driving piece and the driven piece realize the conversion of a motion mode through the first motion conversion structure and the second motion conversion structure, and the rotation of the driving piece is converted into the linear movement of the driven piece; the driven piece is connected with the cutting executing mechanism; the output piece is connected with the driving piece, and the clutch mechanism selectively drives the output piece to selectively drive the driving piece. The surgical instrument simplifies the structures of the clutch mechanism and the cutting driving mechanism, and has more compact overall structure.

Description

Surgical instrument

Technical Field

The present invention relates to a surgical instrument.

Background

Surgical instruments are well known for general use in intra-luminal procedures such as abdominal cavity.

Existing surgical instruments generally include a housing, a shaft assembly extending longitudinally from the housing, and an end effector disposed at a distal end of the shaft assembly, the end effector including a jaw assembly including a cartridge housing and a staple cartridge housing pivotally connected thereto for operably supporting the staple cartridge assembly therein, the staple cartridge housing being selectively movable between an open position and a closed position.

The shell is internally provided with a motor, and at least part of a cutting driving mechanism and a jaw driving mechanism which are driven by the motor, wherein the cutting driving mechanism drives a cutting knife assembly to feed or retract, and the tissue can be cut and anastomosed during feeding; the jaw driving mechanism drives the jaw assembly to be closed or opened, tissue can be clamped when the jaw assembly is closed, and tissue can be loosened or aligned with the tissue to be clamped when the jaw assembly is opened. Depending on the manner in which the surgical instrument is operated, the cutting blade assembly action cannot be concurrent with the jaw closing or opening action, and the actions therebetween should follow a predetermined sequence, requiring a clutch mechanism that selectively drives the cutting drive mechanism.

However, the clutch mechanism and the cutting driving mechanism of the existing surgical instrument have complex structures, and the overall structure of the surgical instrument is not compact enough, so that improvement is needed.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims at providing a surgical instrument, which simplifies the structures of a clutch mechanism and a cutting driving mechanism.

The invention is realized by the following technical scheme:

a surgical instrument comprising a switching mechanism, a cutting drive mechanism, and a cutting actuator; the switching mechanism comprises a clutch mechanism and an output piece; the cutting driving mechanism comprises a driving piece and a driven piece, the driving piece comprises a first motion conversion structure, the driven piece comprises a second motion conversion structure, the driving piece and the driven piece realize the conversion of a motion mode through the first motion conversion structure and the second motion conversion structure, and the rotation of the driving piece is converted into the linear movement of the driven piece; the driven piece is connected with the cutting executing mechanism; the output piece is connected with the driving piece, and the clutch mechanism selectively drives the output piece to selectively drive the driving piece.

Further, the surgical instrument further includes a power module, the cutting drive mechanism having a cutting drive direction, a central axis of an output shaft of the power module extending in the same direction as the cutting drive direction.

Further, the driving member includes a proximal end and a distal end, and the driven member has a linear travel distance, the linear travel distance being in a region away from the proximal end in a direction from the proximal end toward the distal end.

Further, the driving part is a screw rod, the driven part is a nut, and the first motion conversion structure and the second motion conversion structure are both threads.

Further, the nut includes a stop feature, and the surgical instrument further includes a stop member that cooperates with the stop feature to limit rotation of the nut.

Further, the cutting driving mechanism further comprises an accelerating mechanism, and the accelerating mechanism is arranged between the output piece and the driving piece.

Further, the clutch mechanism comprises an intermediate piece and a clutch piece, wherein the intermediate piece drives the clutch piece, and the clutch piece is selectively matched with the output piece to selectively drive the output piece.

Further, the clutch member includes an active transition structure for cooperating with the output member and an idle transition structure for coupling with the output member.

Further, the output piece is a gear; the effective transfer structure is a toothed portion, and the idle transfer structure is a toothless portion.

Further, the switching mechanism further includes an input member that drives the clutch mechanism; the surgical instrument further includes a power module coupled to the input member.

Further, the surgical instrument further comprises a jaw drive mechanism and a jaw actuator, the jaw drive mechanism being coupled to the jaw actuator; the output piece comprises a first output piece and a second output piece, the first output piece is connected with the driving piece, and the second output piece is connected with the jaw driving mechanism; the clutch mechanism selectively drives the first output member to selectively drive the driving member, and the clutch mechanism selectively drives the second output member to selectively drive the jaw drive mechanism.

Further, the clutch mechanism comprises an intermediate piece and a clutch piece, the clutch piece comprises a first clutch piece and a second clutch piece, the intermediate piece drives the first clutch piece and the second clutch piece, the first clutch piece is selectively matched with the first output piece to selectively drive the first output piece, and the second clutch piece is selectively matched with the second output piece to selectively drive the second output piece.

Further, the first clutch member includes a first effective transition structure for cooperating with the first output member and a first idle transition structure for coupling with the first output member; the second clutch member comprises a second effective transfer structure and a second idle transfer structure, wherein the second effective transfer structure is used for being matched with the second output member, and the second idle transfer structure is used for being coupled with the second output member.

Further, the first output member and the second output member are gears; the first effective transfer structure and the second effective transfer structure are toothed parts, and the first idle transfer structure and the second idle transfer structure are toothless parts.

Further, the cutting drive mechanism further comprises a motion transmission mechanism, and the driven piece is connected with the cutting executing mechanism through the motion transmission mechanism.

Further, the cutting executing mechanism comprises a push-type cutter and a cutting knife, wherein the proximal end of the push-type cutter is connected with the motion transmission mechanism, and the distal end of the push-type cutter is connected with the cutting knife.

Further, the motion transfer mechanism is a mandrel.

Compared with the prior art, the invention has the beneficial effects that: the clutch mechanism selectively drives the cutting mechanism, and meanwhile, the structure of the clutch mechanism and the structure of the cutting driving mechanism are simplified, so that the overall structure of the surgical instrument is compact.

Drawings

FIG. 1 is a schematic perspective view of a surgical instrument provided in accordance with a first embodiment of the present invention;

FIG. 2 is a front view of the surgical instrument illustrated in FIG. 1;

FIG. 3 is an exploded schematic view of the portion of the surgical instrument shown in FIG. 1;

FIG. 4 is a schematic perspective view of a portion of the housing of the surgical instrument of FIG. 1 shown hidden;

FIG. 5 is a front view of the surgical instrument illustrated in FIG. 4;

FIG. 6 is an exploded schematic view of the surgical instrument illustrated in FIG. 5;

FIG. 7 is a schematic perspective view of a portion of the drive mechanism of the surgical instrument of FIG. 4;

FIGS. 8 and 9 are schematic perspective views of a portion of the clutch mechanism of the transmission shown in FIG. 7;

FIGS. 10 and 11 are cross-sectional views of a portion of the structure of the surgical instrument illustrated in FIG. 1;

FIGS. 12 and 13 are exploded perspective views of a portion of the cutting drive structure of the surgical instrument illustrated in FIG. 1;

FIGS. 14-17 are schematic views of a change in state of a clutch mechanism of the surgical instrument of FIG. 1;

FIGS. 18-21 are schematic views of the structure and change of state of a jaw drive mechanism of the surgical instrument of FIG. 1;

FIG. 22 is a schematic view of a first cam member of the jaw drive mechanism of FIG. 18;

FIGS. 23-28 are schematic structural views of a motion-changing mechanism of a sleeve-driven jaw of the surgical instrument of FIG. 1;

FIG. 29 is a schematic illustration of the forward and reverse orientation of the manipulator of the surgical instrument illustrated in FIG. 1;

FIG. 30 is a schematic view in plan view of the surgical instrument of FIG. 1 with the manipulator rotated about an axis of rotation in a plane perpendicular to the axis of rotation;

FIG. 31 is a schematic view of the secondary operating member assembly operating member of the surgical instrument provided in accordance with the second embodiment of the present invention;

FIG. 32 is a schematic plan view of the auxiliary operating member assembly operating member of FIG. 31 in a plane perpendicular to the axis of rotation as it rotates about the axis of rotation;

FIG. 33 is a schematic view of an auxiliary operating member of a surgical instrument provided in accordance with a second embodiment of the present invention as an L-bar;

FIG. 34 is a schematic view of a surgical instrument provided by a third embodiment of the present invention;

FIG. 35 is a schematic view of another surgical instrument provided by a third embodiment of the present invention;

FIG. 36 is an elevation view of a portion of the structure of a surgical instrument provided by a fourth embodiment of the present invention;

FIG. 37 is a perspective view of a portion of the structure of the surgical instrument illustrated in FIG. 36;

fig. 38 is a schematic view of a portion of the structure of a surgical instrument provided in a fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is to be understood that the terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle assembly of a surgical instrument. The term "proximal" refers to the portion proximal to the clinician, and the term "distal" refers to the portion distal to the clinician. I.e., the handle assembly is proximal and the jaw assembly is distal, e.g., the proximal end of a component represents an end relatively close to the handle assembly and the distal end represents an end relatively close to the jaw assembly. The terms "upper" and "lower" refer to the relative positions of the staple abutment and the cartridge abutment of the jaw assembly, specifically the staple abutment being "upper" and the cartridge abutment being "lower". However, surgical instruments are used in many orientations and positions, and these terms of relative positioning are not intended to be limiting and absolute.

In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, movably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. It should be noted that, when the terms "connected" and "connected" are used in the meanings defined by the corresponding terms, they are used only to exclude the cases where they are obviously required to be excluded, and not to exclude other possible cases, such as "detachably connected" refers to a detachable connection, and does not include a fixed connection and an integral connection, but a movable connection, a direct connection, an indirect connection via an intermediate medium, and not exclude the case.

Fig. 1-30 illustrate a surgical instrument 100, in particular an electric stapler, according to a first embodiment of the present invention. The modules included in the surgical instrument 100 to which power is provided are defined as power modules, which are classified into an electric module and a manual module according to a power type, the power modules providing electric power, and the manual modules providing manual power.

The surgical instrument 100 includes a body 108, a shaft assembly 104, and an end effector 106 connected in sequence. The body 108 includes a main module and a motorized module 110 connected. The main module includes a first housing 112, the first housing 112 including a head housing 114 and a handle housing 116 connected, the head housing 114 housing at least a portion of the drive mechanism, the handle housing 116 being accessible for an operator. Of course, in some embodiments, the handle housing 116 may also house a portion of the transmission mechanism, as will be described in detail below. The electric module 110 includes a second housing 120 and a motor 122, and the second housing 120 is configured to house the motor 122. The body 108 also includes a detachably mounted battery pack (not shown) that includes a third housing (not shown) detachably mounted to the handle housing 116, and a battery housed in the third housing. Preferably, the handle housing 116 has a cavity to which the battery pack is mounted. The battery supplies electric power to the motor 122, and the motor 122 operates when it obtains electric power to output electric power. The transmission mechanism is connected to the electric module 110 and operates when electric power output by the motor 122 is obtained.

The shaft assembly 104 then includes at least some portion of the transmission mechanism other than the transmission mechanism that is in this embodiment housed by the head housing 114, and in some embodiments housed by the head housing 114 and the handle housing 116. For example, the shaft assembly 104 includes a mandrel 124 and a sleeve 126 that fits over the mandrel 124. The spindle 124 and sleeve 126 are part of a transmission mechanism.

End effector 106 includes a jaw assembly 128 and a staple cartridge assembly. The jaw assembly 128 includes a cartridge housing 130 and a staple abutment 132 pivotally connected to the cartridge housing 130. Cartridge housing 130 is configured to operably support a cartridge assembly (not shown) therein, and staple abutment 132 is selectively movable between an open position and a closed position to cooperate with cartridge housing 130 and the cartridge assembly to clamp or unclamp tissue. The staple cartridge assembly is provided with a groove for the movement of the cutting knife assembly, the cutting knife assembly can cut tissues in the process of moving towards the distal end in the groove, and staples accommodated in the staple cartridge assembly are pushed out to anastomose the tissues.

Thus, the motor 122 drives the jaw assembly 128 to close through the transmission mechanism to clamp the tissue, then the motor 122 drives the cutting knife assembly to move forward through the transmission mechanism to cut and anastomose the tissue, then the motor 122 drives the cutting knife assembly to move backward through the transmission mechanism, and finally the motor 122 drives the jaw assembly 128 to open through the transmission mechanism to loosen the tissue, so that the cutting and anastomosing functions of the anastomat are realized.

The transmission mechanism includes a switching mechanism and a driving mechanism which are sequentially driven. The switching mechanism includes an input driven by the motor 122, a clutch mechanism driven by the input, and an output selectively driven by the clutch mechanism. The output member includes a first output member and a second output member. The drive mechanism includes a cutting drive mechanism 146 and a jaw assembly drive mechanism 148, with the first output driving the cutting drive mechanism 146 and the second output driving the jaw assembly drive mechanism 148. The cutting drive mechanism 146 drives the cutter assembly into or out of the way; the jaw assembly drive mechanism 148 drives the jaw assembly 128 closed or open. The first output piece and the second output piece are driven alternatively, so that the cutting executing mechanism and the jaw assembly driving mechanism are driven alternatively. Depending on the manner in which the surgical instrument is operated, the action of the cutting actuator cannot be performed simultaneously with the action of the jaw actuator, and the action of the cutting actuator and the action of the jaw actuator should follow a given sequence, so it is meaningful to selectively drive the cutting actuator.

The cutting driving mechanism comprises a first driving part and a first driven part, the first driving part comprises a first motion conversion structure, the first driven part comprises a second motion conversion structure, the first driving part and the first driven part are converted in motion mode through the first motion conversion structure and the second motion conversion structure, and the rotation of the first driving part is converted into linear movement of the first driven part. The output piece is connected with the first driving piece, and the first driven piece is connected with the cutting executing mechanism. The clutch mechanism selectively drives the output member to selectively drive the first driving member, and then selectively drives the cutting executing mechanism through the first driven member. The manner in which the surgical instrument operates requires that the cutting actuator move in a linear fashion. The structure of the cutting driving mechanism and the clutch mechanism is simplified.

The cutting driving mechanism is provided with a cutting driving direction which is the linear movement direction of the first driven piece or the linear movement direction of the cutting executing mechanism. The direction that the central axis of power module's output shaft 168 extends is the same with the cutting drive direction, from this, sets up power module in the head casing along the same direction with first follower rectilinear movement's direction to set up power module independent of the handle, be convenient for set up the position and the angle of handle as required, can accord with ergonomic, promote operator's experience. The directions are the same, including the angle between the directions being equal to zero, or equal to 180 degrees, i.e., including the same direction and opposite directions. In the prior art, at least part of the power module is disposed in the handle, the extending direction of the central axis of the output shaft 168 of the power module is perpendicular to the linear moving direction of the first follower, and the position of the handle cannot be flexibly set due to the limitation of the power module.

The first active member includes a proximal end and a distal end. Proximal refers to the end proximal to the operator (including the physician) and distal refers to the end distal to the operator. The first follower is linearly moved so as to have a linear movement stroke. The area of the linear movement stroke is far away from the proximal end of the first driving member, and the direction of the distance is along the direction of the proximal end towards the distal end. The arrangement is such that the linear movement stroke of the first driven member is positioned on the left side of the proximal end of the first driving member, the linear movement stroke of the first driven member does not occupy the right side space of the proximal end of the first driving member, and the arrangement of other components positioned in the right side space is not limited by the first driven member. Thereby making the overall structure of the surgical instrument more compact. The directions of "left" and "right" in this section are shown in fig. 10 and 11.

The clutch mechanism includes an intermediate member 152 and a clutch member. The intermediate member 152 mates with the input member and the intermediate member 152 drives the clutch member. The output piece is connected with the first driving piece of the cutting driving mechanism, and the clutch piece is selectively matched with the output piece, so that the selective driving of the cutting driving mechanism is realized. The clutch member includes an active transition structure and an idle transition structure. When the idle stroke structure is coupled with the output piece, the output piece is not driven, and the cutting driving mechanism is not driven, thereby realizing that the output piece is selectively driven and the cutting driving mechanism is selectively driven. The cooperation and coupling together achieve selective cooperation. Coupling refers to the termination of the mating due to the lack of structure for the mating due to a change in relative position or state between the mating components. The relative position changes include, but are not limited to, the following: the components are rotated relative to each other.

Specifically, the intermediate member 152 and the clutch member synchronously rotate, so that the intermediate member 152 drives the clutch member. Preferably, the intermediate member 152 and the clutch member are formed on the same component.

Specifically, the output member is a gear, the effective transfer structure is a toothed portion, and the idle transfer structure is a toothless portion. Further, the toothed portion and the toothless portion are both located on the outer peripheral surface of the clutch member, and the toothed portion and the toothless portion are disposed adjacently.

Specifically, the first driving member is a screw 186, the first driven member is a nut 188, the first motion conversion structure is a first thread arranged on the screw 186, the second motion conversion structure is a second thread arranged on the nut 188, the screw 186 and the nut 188 are matched with each other through the first thread and the second thread to realize conversion of motion modes, and rotation of the screw 186 is converted into linear movement of the nut 188. The nut 188 is elongated. Fig. 10 shows an initial position of the linear movement stroke of the nut 188, fig. 11 shows an intermediate position of the linear movement stroke of the nut 188, the linear movement stroke is defined between the initial position and the intermediate position, and the area occupied by the initial position and the intermediate position together is the area in which the linear movement stroke is located. The area of the linear travel of the nut 188 is away from the proximal end of the lead screw 186 and in a direction along the proximal end of the lead screw 186 toward the distal end of the lead screw 186. The cutting drive mechanism (i.e., the first drive mechanism) includes a lead screw 186, a nut 188, a first thread provided to the lead screw 186, and a second thread provided to the nut 188. The first motion transfer mechanism includes a spindle 124. The cutting actuator, i.e., the cutting blade assembly, includes a pusher blade 350 and a cutting blade 352. The proximal end of the spindle 124 is connected to the distal end of the nut 188, the distal end of the spindle 124 is connected to the push blade 350, and the push blade 350 is connected to the cutting blade 352, whereby the nut 188 in turn drives the spindle 124, the push blade 350, and thereby the cutting blade 352 forward or backward, i.e., into or out of the blade. During feeding, the nut 188 is linearly moved from the initial position to the intermediate position, and during retracting, the nut 188 is linearly moved from the intermediate position to the initial position.

Specifically, the lead screw 186 is driven to rotate by an output member of the switching mechanism. The output of the switching mechanism is a cutting drive gear, which is connected to lead screw 186. The distal end of the nut 188 includes a receiving groove 194 and the proximal end of the spindle 124 has a rounded insertion portion 196, with the insertion portion 196 being inserted into and received in the receiving groove 194. Also, the insertion portion 196 is rotatable in the accommodation groove 194, but movement thereof in the longitudinal direction is restricted by the accommodation groove 194, so that the nut 188 can drive the spindle 124 through the accommodation groove 194 and the insertion portion 196. The insert 196 is rotatable in the receiving recess 194 such that the spindle 124 can rotate about its own axis without being constrained by the nut 188. The spindle 124 is rotatable to accommodate the rotation of the shaft assembly, which may allow the end effector to be rotated circumferentially to adjust position for tissue clamping and fixation. The nut 188 includes a limit feature 198, the limit feature 198 cooperating with a limit member 200 such that rotation of the nut 188 about its central axis is limited and the nut 188 does not rotate but moves linearly when driven by the lead screw 186. The outer surface of the nut 188 includes a flat surface, which is a stop feature 198. The limiter 200 is connected to the housing such that the limiter 200 cannot rotate, the limiter 200 also includes a flat surface, and the flat surface of the limiter 200 abuts against the flat surface of the outer surface of the nut 188, thereby limiting the rotation of the nut 188. Preferably, the outer surface of the nut 188 includes two symmetrically disposed flats and the stop 200 also includes two symmetrically disposed flats.

Preferably, an acceleration mechanism is arranged between the first output member and the first driving member to increase the rotation speed of the first driving member, and the stroke of the first driven member can be increased in the same time period or increased in the same condition of the rotation of the first output member relative to the condition that the acceleration mechanism is not arranged. Increasing the travel of the first follower may increase the travel of the cutting actuator to accommodate the need for a larger cutting travel. Specifically, the accelerating mechanism includes two-stage accelerating mechanisms 202, and the two-stage accelerating mechanisms 202 have the same structure, and are all planetary gear accelerating mechanisms 202, and the structures of the planetary gear accelerating mechanisms are well known to those skilled in the art, and are not described herein. The first output member drives the first driving member to accelerate and rotate through the two-stage planetary gear accelerating mechanism 202, so that the rotating speed of the first driving member is increased.

Preferably, a thrust bearing 206 is provided between the first output member and the first driving member to overcome the reaction force applied by the cutting actuator to the first output member through the first motion transfer mechanism, the first driven member, and the first driving member, which may reduce the transmission efficiency of the clutch mechanism. The structure of the thrust bearing is common knowledge in the art, and will not be described in detail herein.

The transmission mechanism also includes a jaw drive mechanism (i.e., a second drive mechanism) and a jaw actuator. The cutting drive mechanism and the jaw drive mechanism are both selectively driven, thereby realizing the action logic relationship between the cutting actuator and the jaw actuator and further realizing the action logic relationship between the cutting knife 352 and the jaw assembly. Depending on the manner in which the surgical instrument is operated, the actions of the jaw assembly and the cutting blade 352 cannot be performed simultaneously, and the actions should follow the following sequence: closing the jaw assembly, feeding the cutting blade 352, retracting the cutting blade 352, and opening the jaw assembly. The requirements for the action of the jaw assembly and the cutting blade 352 are also referred to as action logic relationships. The action logic relation realizes the following steps: the jaw assembly is closed to squeeze and secure tissue received in the jaw assembly, the cutting knife 352 is advanced to anastomose and cut the tissue, the knife is advanced and retracted after anastomosis and cutting are completed, and the jaw assembly is opened after retraction to release the tissue.

The clutch mechanism includes an intermediate member 152, a first clutch member 154, and a second clutch member 156. The intermediate member 152 mates with the input member and the intermediate member 152 drives the first clutch member 154 and the second clutch member 156. The output piece comprises a first output piece and a second output piece, wherein the first output piece is connected with a first driving piece of the cutting driving mechanism, and the second output piece is connected with the jaw driving mechanism. The first clutch member 154 selectively cooperates with the first output member to effect selective actuation of the cutting drive mechanism. The second clutch member 156 selectively cooperates with the second output member to effect selective actuation of the jaw actuation mechanism. The first clutch member 154 includes a first active transition structure 158 and a first idle transition structure 160, wherein when the first active transition structure 158 is engaged with the first output member, the first output member is driven, and thus the cutting drive mechanism is driven, and when the first idle transition structure 160 is coupled with the first output member, the first output member is not driven, and the cutting drive mechanism is not driven, thereby enabling the first output member to be selectively driven and the cutting drive mechanism to be selectively driven. The second clutch member 156 includes a second active transition structure 162 and a second idle transition structure 164, wherein when the second active transition structure 162 is engaged with the second output member, the second output member is driven, and thus the jaw drive mechanism is driven, and when the second idle transition structure 164 is coupled with the second output member, the second output member is not driven, the jaw drive mechanism is not driven, thereby enabling the second output member to be selectively driven and the jaw drive mechanism to be selectively driven. The cooperation and coupling together achieve selective cooperation. Coupling refers to the termination of the mating due to the lack of structure for the mating due to a change in relative position or state between the mating components. The relative position changes include, but are not limited to, the following: the components are rotated relative to each other. Specifically, the intermediate member 152, the first clutch member 154, and the second clutch member 156 rotate in synchronization, thereby enabling the intermediate member 152 to drive the first clutch member 154 and the second clutch member 156. Specifically, the first output member and the second output member are gears, the first effective transition structure 158 and the second effective transition structure 162 are toothed portions, and the first idle transition structure 160 and the second idle transition structure 164 are toothless portions. Preferably, the intermediate member 152, the first clutch member 154, and the second clutch member 156 are formed on the same component.

Specifically, the input is a main drive gear 166, and the main drive gear 166 is coupled to and thus driven by the power module. The intermediate member 152 is a gear that is held in engagement with the input member. The first clutch member 154 includes a first toothed portion, which is a first effective rotational travel structure 158, and a first non-toothed portion, which is a first idle rotational travel structure 160. The first toothed portion and the first toothless portion are both located on the outer peripheral surface of the first clutch member 154, and the first toothed portion and the first toothless portion are disposed adjacently. The second clutch 156 includes a second toothed portion, which is a second active rotational travel structure 162, and a second non-toothed portion, which is a second idle rotational travel structure 164. The second toothed portion and the second toothless portion are both located on the outer peripheral surface of the second clutch member 156, and the second toothed portion and the second toothless portion are disposed adjacent to each other. The first output is a cutting drive gear 170 and the second output is a jaw drive gear 172. The position of the first clutch member 154 corresponds to the position of the cutting drive gear 170 in the axial direction of the intermediate member 152, and the position of the second clutch member 156 corresponds to the position of the jaw drive gear 172 in the axial direction of the intermediate member 152. The operation mode is as follows: the main driving gear 166 rotates to drive the middle piece 152 meshed with the main driving gear to rotate, and the middle piece 152 drives the first clutch piece 154 and the second clutch piece 156 to rotate; the first toothed portion of the first clutch member 154 is meshed with the cutting driving gear 170, so that the cutting driving gear 170 is driven to rotate to drive the cutting driving mechanism to drive the cutting executing mechanism to advance or retract, and the cutting knife 352 of the cutting executing mechanism is synchronously driven to feed or retract; the first toothless portion of the first clutch 154 is coupled to the cutting drive gear 170, the cutting drive gear 170 is not driven, and thus the cutting drive mechanism and the cutting actuator are not driven, and the cutting blade 352 of the cutting actuator is not driven to maintain position; the second toothed portion of the second clutch member 156 is meshed with the jaw drive gear 172 to drive the jaw drive gear 172 to rotate, which in turn drives the jaw drive mechanism and the jaw actuator, the jaw assembly of which is driven to close or open; the second toothless portion of the second clutch 156 is coupled to the jaw drive gear 172, and thus the jaw drive mechanism and jaw actuator, is not driven, nor is the jaw assembly driven to maintain a state. Specifically, the toothless portion is not provided with teeth, cannot be meshed with the drive gear and thus the drive gear is not driven, and the drive gear includes a cutting drive gear and a jaw drive gear. The clutch mechanism is specifically operated as follows: the second toothed portion of the second clutch member 156 is meshed with the jaw drive gear 172, thereby driving the jaw drive gear 172 to rotate, thereby sequentially driving the jaw drive mechanism and the jaw actuator, the jaw assembly of the jaw actuator being driven to close; during closure and opening of the jaw assembly, the first toothless portion of the first clutch 154 is coupled to the cutting drive gear 170, the cutting drive gear 170 is not driven, and thus the cutting drive mechanism and the cutting actuator are not driven, nor is the cutting blade 352 of the cutting actuator driven to maintain position; after the jaw assembly is closed in place, during the feeding and retracting of the cutting blade 352, the second toothless portion of the second clutch 156 is coupled to the jaw drive gear 172, the jaw drive gear 172 is not driven, and thus the jaw drive mechanism and the jaw actuator are not driven, and the jaw assembly of the jaw actuator is not driven and remains closed; the first toothed portion of the first clutch member 154 is meshed with the cutting driving gear 170, so as to drive the cutting driving gear 170 to rotate, and further drive the cutting driving mechanism and the cutting executing mechanism in turn, and the cutting knife 352 of the cutting executing mechanism is driven to feed and retract; the second toothed portion of the second clutch member 156 is meshed with the jaw drive gear 172 to drive the jaw drive gear 172 in rotation, which in turn drives the jaw drive mechanism and the jaw actuator, the jaw assembly of which is driven to open. As can be seen, the clutch mechanism causes the jaw assembly and cutting blade 352 to perform the following actions in sequence: closing the jaw assembly, feeding, retracting, opening the jaw assembly, and the actions of the jaw assembly and the cutting blade 352 do not occur simultaneously.

Referring now to fig. 18-22, the jaw drive mechanism 148 for driving movement of the jaw assembly 128 includes a jaw closure drive mechanism that drives the jaw assembly closed and a jaw opening drive mechanism that drives the jaw assembly open. The jaw opening driving mechanism and the jaw closing driving mechanism both comprise a power supply piece and a transmission assembly, the power supply piece provides power for the transmission assembly, and the transmission assembly drives the jaw assembly to move under the drive of the power supply piece. In this embodiment, the "jaw" and the "jaw assembly" are the same technical feature.

The power supply of the jaw opening and closing drive mechanisms is a jaw drive gear 172, the jaw drive gear 172 being driven to rotate by motor 122 to power the drive assembly, as opposed to the power supply of the jaw closing drive mechanism. The power supply of the jaw opening drive mechanism is a reset piece 214, the reset piece 214 is an elastic element, the elastic element is stored energy in the process that the jaw closing drive mechanism drives the jaw assembly 128 to be closed, and in the process that the jaw assembly is opened, the elastic element recovers deformation to release energy so as to supply power for the transmission assembly.

The transmission assemblies of the jaw opening driving mechanism and the jaw closing driving mechanism are the same, however, the power transmission paths of the transmission assemblies of the jaw opening process and the jaw closing process are opposite, and it is required to be noted that the power supply piece of the jaw closing driving mechanism needs to move and drive the second driving piece to move to leave a space in the jaw assembly opening process, and the following detailed description will be provided.

The transmission assembly comprises a second driving part and a second driven part driven by the second driving part, the second driving part is provided with a third motion conversion structure, the second driven part is provided with a fourth motion conversion structure, and the third motion conversion structure and the fourth motion conversion structure are matched to convert the rotation of the second driving part into the linear motion of the second driven part. Since the stapler has an elongated shaft assembly 104, linear movement of the second follower can be conveniently transferred through the shaft assembly 104 to the proximal end of the jaw assembly 128.

The second driving member is a first cam member 224 and the third motion translating structure includes a first cam surface 226 disposed on a distal side of the second driving member. The first cam surface 226 drives the second follower to move, so that the motion output by the transmission assembly is more accurate, and the operation requirement of the anastomat can be better met. The rotation axis of the second driving part is parallel to the central axis of the output shaft of the power module, so that the whole layout of the transmission mechanism is reasonable and the structure is compact.

As previously described, the jaw closure drive mechanism includes a jaw drive gear 172 that powers the drive assembly, with the jaw drive gear 172 rotating to drive rotation of the first cam member 224. Specifically, the jaw driving gear 172 and the first cam member 224 are fixedly disposed on the same transmission shaft, so that the jaw driving gear 172 and the first cam member 224 are coaxially disposed, thereby facilitating power transmission. The jaw drive gear 172 and the first cam member 224 are spaced apart in the axial direction of the drive shaft to avoid interference with other components of the drive mechanism. It can be seen that the first cam member 224 is axially fixed and can only rotate with the jaw drive gear 172 and cannot move linearly.

The first cam member 224 has a circumferential outer surface, and the first cam surface 226 extends obliquely in the circumferential direction of the first cam member 224 on the distal end side of the second driving member as a spiral surface provided on the distal end side of the second driving member. Therefore, the first cam member 224 is structured, and the stroke required by the closing of the jaw of the anastomat can be well realized by virtue of the stroke and the surface shape of the first cam surface 226.

The first cam member 224 also includes a first start abutment surface 228 and a first end abutment surface 230 that abut the first cam surface 226, the first start abutment surface 228 abutting and being disposed at an angle to one end of the first cam surface 226, and the first end abutment surface 230 abutting and being disposed at an angle to the other end of the first cam surface 226. In other words, one of the first start abutment surface 228 and the first end abutment surface 230 is adjacent to and angled with respect to the proximal end of the first cam surface 226, and the other of the first start abutment surface 228 and the first end abutment surface 230 is adjacent to and angled with respect to the distal end of the first cam surface 226. The angle (also referred to as the included angle) between the first start point abutment surface 228 and the first cam surface 226 refers to the included angle between the first start point abutment surface 228 and the plane of the first cam surface 226 closest to the first start point abutment surface 228. The angle between the first end abutment surface 230 and the first cam surface 226 is defined similarly and will not be described again. The angle between the first endpoint abutment surface 228 and the first cam surface 226 is obtuse, and the angle between the first endpoint abutment surface 230 and the first cam surface 226 is obtuse. The obtuse angle facilitates the cooperation of the first cam member 224 with the second follower to maintain a certain state, as will be described later. In the present embodiment, the first start point contact surface 228 is perpendicular to the central axis of the first cam piece 224, the first end point contact surface 230 is perpendicular to the central axis of the first cam piece 224, and the first start point contact surface 228 and the first end point contact surface 230 are provided at intervals in the extending direction of the central axis of the first cam piece 224.

Thus, the first cam surface 226 drives the second follower and thus the jaw assembly closed, and the first start abutment surface 228 and the first end abutment surface 230, when in abutment with the second follower, do not drive movement of the jaws, thereby maintaining the jaws in an open or closed position, avoiding undesired movement of the jaw assembly resulting in an accidental medical incident.

The first start point abutment surface 228, the first cam surface 226, and the first end point abutment surface 230, which are sequentially connected, are referred to as stroke surfaces, and two stroke surfaces are provided on the distal end side of the first cam member 224, and are provided along the central axis of the first cam member 224 in a central symmetry. The two centrosymmetric travel surfaces can drive the second driven piece more stably, so that the second driven piece is stressed more uniformly, the transmission of the jaw closing driving mechanism is more stable, and the jaw closing process is more stable. Preferably, the circumferential extension angle of the two stroke surfaces is equal to 360 degrees, that is, the two stroke surfaces extend in the entire circumferential direction of the distal end side of the first cam member 224, the structure is more regular, and the transmission is more stable. As shown in fig. 22, the first start point abutment surface 228, the first cam surface 226, and the first end point abutment surface 230 located above fig. 22 are one stroke surface, and the first end point abutment surface 230' of the other stroke surface is shown below fig. 22, which is not shown in fig. 22 due to the view angle.

The second driven piece is arranged opposite to the second driving piece. The second follower is a second cam member 234 and the fourth motion translating structure is a second cam surface 236, the second cam surface 236 being shaped to mate with the first cam surface 226. Shape matching means that the first cam surface 226 and the second cam surface 236 may substantially conform to each other in a certain mating state. The second cam member 234 has a circumferential outer surface, and the second cam surface 236 extends obliquely in the circumferential direction of the second cam member 234 on the proximal end side of the second follower as a spiral surface provided on the proximal end side of the second cam member 234. Because the second cam surface 236 is matched with the first cam surface 226 in shape, the surface contact between the second cam surface 236 and the first cam surface 226 during the closing process of the jaws realizes the motion switching between the second driving member and the second driven member, and the transmission is more stable. Preferably, the second cam surface 236 is not only matched in shape to the first cam surface 226, but also the same size, not only compact, but also well adapted for motion conversion.

A rotation stopping mechanism is provided between the second cam member 234 and the housing 102. The rotation stopping means may for example be mutually cooperating longitudinally extending protrusions and recesses, one of the second cam member 234 and the housing 102 being provided with protrusions and the other of the second cam member 234 and the housing 102 being provided with recesses. The cooperation of the second cam surface 236 and the first cam surface 226 causes the second cam member 234 to have a tendency to move both rotationally and linearly, and the anti-rotation mechanism prevents the second cam member 234 from rotating such that the second cam member 234 can only move linearly.

The second cam member 234 further includes a second start abutment surface 238 and a second end abutment surface that abut the second cam surface 236, the second start abutment surface 238 abutting and being disposed at an angle to one end of the second cam surface 236 and the second end abutment surface abutting and being disposed at an angle to the other end of the second cam surface 236. The angle between the second start abutment surface 238 and the second cam surface 236 refers to the angle between the second start abutment surface 238 and the plane of the second cam surface 236 closest to the second start abutment surface 238. The angle between the second end abutment surface and the second cam surface 236 is defined similarly and will not be described again. The angle between the second start abutment surface 238 and the second cam surface 236 is obtuse, and the angle between the second end abutment surface and the second cam surface 236 is obtuse. The obtuse angle facilitates the cooperation of the second cam member 234 with the first cam member 224 to maintain a certain state, as will be described later. In the present embodiment, the second start point abutment surface 238 is perpendicular to the central axis of the second cam piece 234, the second end point abutment surface is perpendicular to the central axis of the second cam piece 234, and the second start point abutment surface 238 and the second end point abutment surface are provided at intervals in the direction in which the central axis of the second cam piece 234 extends.

The second start point abutment surface 238, the second cam surface 236, and the second end point abutment surface that are sequentially connected are referred to as stroke surfaces, and two stroke surfaces are provided on the proximal end side of the second cam member 234, and the two stroke surfaces are provided in central symmetry along the central axis of the second cam member 234. The two centrosymmetric travel surfaces can be matched with the second driving piece more stably, so that the second driven piece is stressed more uniformly, the transmission of the jaw closing driving mechanism is more stable, and the jaw closing process is more stable. Preferably, the circumferential extension angle of the two stroke surfaces is equal to 360 degrees, that is, the two stroke surfaces extend in the entire circumferential direction of the proximal end side of the second cam member 234, the structure is more regular, and the transmission is more stable.

The stroke surface of the first cam member 224 is the same shape and size as the stroke surface of the second cam member 234, so that the matching and transmission of the first cam member 224 and the second cam member 234 can be well realized.

Thus, during jaw closure, the first cam member 224 and the second cam member 234 have three mating states:

in the first mating state, the first start point abutment surface 228 abuts the second start point abutment surface 238, and the distance between the first cam member 224 and the second cam member 234 is minimized. In the first mated state, the mating relationship of the first cam member 224 and the second cam member 234 further includes: the second cam surface 236 abuts (is not circumferentially offset from) the first cam surface 226, and the first end abutment surface 230 abuts the second end abutment surface. Because the first starting point abutment surface 228 abuts the second starting point abutment surface 238, the first cam member 224 and the second cam member 234 remain relatively stationary, and the first cam member 224 does not drive the second cam member 234, and the second cam member 234 is not able to drive the jaw movement, thereby preventing unintended operation of the jaw assembly 128. The jaw drive mechanism 148 does not drive the jaw assembly 128 and the jaw assembly 128 is in the open position when the distance between the first cam member 224 and the second cam member 234 reaches a minimum. The distance between the first cam member 224 and the second cam member 234 is either the axial distance between the first start point abutment surface 228 and the second start point abutment surface 238, or the axial distance between the first end point abutment surface 230 and the second end point abutment surface. The axial direction refers to the axial direction of the first cam member 224 or the second cam member 234.

In the second engaged state, the first cam member 224 rotates such that the first cam surface 226 pushes against the second cam surface 236 to drive the second cam member 234 to move linearly. During the transition from the first engagement state to the second engagement state, the second start abutment surface 238, the second cam surface 236, and the second end abutment surface of the second cam member 234 do not rotate in the circumferential direction so that the circumferential position is unchanged, the first cam member 224 is disengaged and gradually moved away from the first start abutment surface 228 during rotation, the second cam surface 236 is gradually staggered from the first cam surface 226 in the circumferential direction, the second end abutment surface is disengaged and gradually moved away from the first end abutment surface 230, and the distance between the second cam member 234 and the first cam member 224 is gradually increased, and the second cam member 234 gradually moves toward the distal end so as to gradually drive the jaws open, since the rotation of the second cam member 234 is prevented by the rotation stop mechanism engaged with the second cam member 234.

In the third mating state, the second start abutment surface 238 abuts the first end abutment surface 230 and the distance between the first cam member 224 and the second cam member 234 reaches a maximum value. During the transition from the second mating state to the third mating state, the second cam surface 236 is progressively offset from the first cam surface 226 until the second cam surface 236 is completely disengaged from the first cam surface 226, and then the second start abutment surface 238 abuts the first end abutment surface 230, the second cam member 234 and the first cam member 224 remain relatively stationary, the first cam member 224 can no longer drive the second cam member 234 distally, the distance between the first cam member 224 and the second cam member 234 reaches a maximum, and the jaws are completely closed and remain stationary, thereby preventing the jaw assembly 128 from being inadvertently operated.

It should be noted that, as described above, the second driving member and the second driven member both have two stroke surfaces that are arranged in a central symmetry manner, and the two stroke surfaces of the second driven member are in one-to-one correspondence with and driven by the two stroke surfaces of the second driving member, and the above description uses one of the stroke surfaces as an example, and the matching states of the other stroke surface are the same, which is not repeated.

The jaw closure drive mechanism further includes a second motion transfer mechanism disposed between the second follower and the jaw assembly 128. Since the second follower of the jaw closing drive mechanism is disposed within the housing 102 proximal of the shaft assembly 104 and the jaw assembly 128 driven by the jaw closing drive mechanism is disposed distal of the shaft assembly 104, linear movement of the second follower can be smoothly transferred to the proximal end of the jaw assembly 128 to drive the jaw assembly 128 by providing a second movement transfer mechanism.

The second motion transfer mechanism includes a pitch transfer mechanism and a linear transfer mechanism connected, the pitch transfer mechanism making the axes of the linear transfer mechanism and the second follower parallel. That is, the second follower drives the pitch transmission mechanism, which drives the linear transmission mechanism, and the pitch transmission mechanism makes the axes of the linear transmission mechanism and the second follower parallel, so that the overall transmission mechanism is more reasonable in layout and more compact in structure.

The pitch transmission mechanism is a link 248, one end of the link 248 is connected to the second follower, and the other end of the link 248 is connected to the linear transmission mechanism. Thus, the transmission of the link 248 not only makes the movement directions of the linear transmission mechanism and the second follower parallel, but also has a simple structure and effective movement transmission.

The linear transfer mechanism includes a pressure ring 250 and a sleeve 126 connected. Thus, the other end of the link 248 is pivotally connected to the collar 250 and the sleeve 126 is connected to the collar 250. Thus, the link 248 transmits the linear motion of the second follower to the press ring 250 and the sleeve 126, such that the press ring 250 and the sleeve 126 move linearly in synchronization with the second follower.

Referring to fig. 23 to 28, a motion conversion mechanism is disposed between the sleeve 126 and the abutment 132 of the jaw assembly 128, and converts the linear motion of the sleeve 126 into a pivoting motion of the abutment 132, thereby pivoting the abutment 132 relative to the cartridge seat 130 to close or open the jaw assembly 128. Specifically, as the sleeve 126 moves proximally, the motion-altering mechanism drives the staple holder 132 to pivot upward to open the jaw assembly 128, and as the sleeve 126 moves distally, the motion-altering mechanism drives the staple holder 132 to pivot downward to close the jaw assembly 128.

Specifically, the sleeve 126 includes a body 254 and a drive tube 256 connected thereto, the drive tube 256 driving the anvil 132 to pivot upward or downward to open or close the jaw assembly 128. The body 254 and the drive tube 256 are connected by a hinge, or may be integrally formed.

The motion changing mechanism includes a first driving portion 258 and a second driving portion 260 provided on the driving tube 256, and a first driven portion 262 and a second driven portion 264 provided on the anvil 132.

The first driving portion 258 drives the nail seat 132 to open, and the first driving portion 258 is a protrusion provided on the driving tube 256 and extending obliquely along the lower right direction. The second driving portion 260 drives the nail supporting seat 132 to be closed, and the second driving portion 260 is a driving surface of the distal end of the driving tube 256.

Correspondingly, the first driven portion 262 may be coupled to the first driving portion 258, where the first driven portion 262 is a protrusion disposed on the nail holder 132, and the protrusion extends upward. The second driven portion 264 may be coupled to the second driving portion 260, where the second driven portion 264 is an abutment surface against the proximal end of the nail seat 132.

A guide mechanism is further provided between the staple holder 132 and the cartridge holder 130, the guide mechanism including a pin 266 provided on the staple holder 132, a kidney slot 268 provided on the cartridge holder 130, the kidney slot 268 extending obliquely upward in a proximal direction toward a distal direction.

28-27, when the end effector 106 is to be closed, the body 254 of the sleeve 126 pushes the driving tube 256 to move distally, the second driving portion 260 of the driving tube 256 abuts the second driven portion 264 of the abutment 132, the pin 266 moves from the proximal lower end to the distal upper end of the kidney-shaped slot 268, the abutment 132 pivots downwardly, and the jaw assembly 128 is closed.

Referring to fig. 27-28, when the jaw assembly 128 is to be opened, the body 254 of the sleeve 126 pulls the driving tube 256 to move proximally, the first driving portion 258 of the driving tube 256 abuts the first driven portion 262 of the abutment 132, the pin 266 moves from the distal upper end to the proximal lower end of the kidney-shaped slot 268, the abutment 132 pivots upwardly, and the jaw assembly 128 is opened.

As previously described, the jaw opening mechanism includes a power supply and a transmission assembly. The power supply part is a reset part 214, in particular an elastic element, and the elastic element is stored energy in the moving process of the jaw closing mechanism; the transmission assemblies of the jaw opening and closing drive mechanisms are identical, but the transmission paths of the transmission assemblies of the jaw opening and closing processes are opposite.

It should be noted that, the power supply element of the jaw opening mechanism is the reset element 214, the jaw driving gear 172 cannot directly drive the second driven element, however, the jaw driving gear 172 needs to drive the second driving element to rotate, the second driving element rotates to a movement releasing position of the second driven element, and the reset element 214 drives the second driven element to move along with the second driving element. The reduction drives the second follower proximally, which in turn drives the cannula 126 proximally, which in turn drives the jaw assembly 128 open by the motion-altering mechanism described above.

The reset piece 214 indirectly drives the second driven piece, a compression ring 250 and a connecting rod 248 are connected between the reset piece 214 and the second driven piece, and the connecting rod 248 enables the motion axes of the compression ring 250 and the second driven piece to be parallel, so that the layout of the transmission mechanism is reasonable. Specifically, one end of the reset member 214 abuts against the distal end surface of the pressing ring 250, and the other end abuts against a corresponding position inside the housing 102.

During jaw opening, the second cam member 234 and the first cam member 224 have three mating states:

in the first mating state, the second start abutment surface 238 abuts the first end abutment surface 230 and the distance between the second cam member 234 and the first cam member 224 reaches a maximum value. In the first mated state, the jaws remain in a closed state.

In the second engaged state, the first cam surface 226 leaves room for movement of the second cam surface 236, and the second cam surface 236 follows the first cam surface 226 under the urging of the reset member 214. In switching from the first engagement state to the second engagement state, the first cam member 224 is driven by the jaw drive gear 172 to rotate to leave the movement space of the second cam member 234, the second start abutment surface 238 is disengaged and gradually moves away from the first end abutment surface 230 to approach the first start abutment surface 228, the second cam surface 236 and the first cam surface 226 are gradually abutted, the elastic element pushes the second cam member 234 to follow the movement of the first cam member 224, the distance between the second cam member 234 and the first cam member 224 is gradually reduced, and the second cam member 234 is gradually moved towards the proximal end, so that the jaws are driven to gradually open by the sleeve 126 and the movement changing mechanism.

In the third mating state, the second starting point abutment surface 238 abuts the first starting point abutment surface 228, and the distance between the second cam member 234 and the first cam member 224 is minimized. During the transition from the second mating state to the third mating state, the second cam surface 236 and the first cam surface 226 move from a partially mated to a fully mated. In the third mating state, the second start abutment surface 238 abuts the first start abutment surface 228, the second end abutment surface abuts the first end abutment surface 230, the distance between the second cam member 234 and the first cam member 224 is at a minimum, and the jaws are opened to the extreme positions.

As can be seen, during closure of the jaw assembly 128, the jaw drive gear 172 drives a second drive member, which in turn drives a second driven member, link 248, compression ring 250, sleeve 126, and motion-altering mechanism to drive the jaw assembly 128 closed. During opening of the jaw assembly 128, the jaw drive gear 172 drives the second drive member in reverse, and the resilient member in turn drives the compression ring 250, the link 248, and the second driven member in proximal motion, which drives the sleeve 126 in proximal motion and drives the jaws open via the motion-altering mechanism described above.

The following describes the operation of the surgical instrument driven by the motor 122 (except that the hand wheel 298 is used to replace the motor 122 in manual operation, the operation is the same as the motor 122, and will not be repeated).

Prior to use of the surgical instrument, the jaw assembly 128 is in an open state and the cutting blade assembly is in an initial position.

If the surgeon determines that jaw assembly 128 is aligned with tissue to be cut and stapled, the surgeon activates motor 122, the output shaft of motor 122 rotates in a first direction and drives primary drive gear 166 (the input member) to rotate, primary drive gear 166 rotates to drive the intermediate member to rotate, the intermediate member rotates to drive the toothed portion of second clutch member 156 into engagement with jaw drive gear 172 and drives jaw drive gear 172 to rotate, motor 122 continues to operate, and jaw drive gear 172 continues to rotate to drive jaw assembly 128 to close and squeeze tissue via the jaw closure drive mechanism described above. In this process, the resilient member of the jaw opening drive mechanism is compressed to store energy, while the toothless portion of the first clutch 154 is coupled to the cutting drive gear 170, and the cutting drive mechanism 146 is not able to drive the cutting blade assembly to move, thereby avoiding malfunction.

When the jaws are fully closed, the first clutch 154 rotates until its toothed portion begins to mesh with the cutting drive gear 170. The output shaft of motor 122 continues to rotate in the first direction and cutting drive gear 170 drives cutter assembly forward through the aforementioned cutting drive mechanism 146 to cut tissue and the cutter assembly pushes staples out of the cartridge assembly to staple the tissue. At the same time, the second clutch member 156 rotates until its toothless portion begins to couple with the jaw drive gear 172, and the second clutch member 156 cannot drive the jaw drive gear 172, so that the jaw drive gear 172 cannot drive the jaw to move, thereby avoiding erroneous operation.

When the cutter assembly is moved to the distal-most position, the output shaft of the motor 122 is turned to rotate in the second direction and the first clutch member 154 is rotated in the opposite direction, which has teeth to drive the cutter drive gear 170 in the opposite direction, the cutter drive gear 170 driving the cutter assembly back through the cutter drive mechanism 146 as described above to retract the cutter.

When withdrawal is complete, the first clutch member 154 rotates to its toothless portion to begin coupling with the cutting drive gear 170, the first clutch member 154 cannot drive the cutting blade assembly to move through the cutting drive gear 170, at the same time, the second clutch member 156 rotates to its toothed portion to begin meshing with the jaw drive gear 172, the second clutch member 156 drives the jaw drive gear 172 to rotate, the jaw drive gear 172 drives the first cam member 224 to rotate, the first end abutment surface 230 is staggered from the second end abutment surface 238, the second cam member 234 moves proximally along the guide of the first cam member 224 under the urging of the resilient member, the second cam member 234 moves proximally to pull the sleeve 126 proximally through the link 248, the compression ring 250, and the sleeve 126 moves proximally to open to loosen tissue by driving the jaw assembly 128 to open through the movement change mechanism.

Thus, the surgical instrument performs a complete operation during which the surgical instrument sequentially performs the closing of the jaw assembly 128 to clamp tissue, the feeding of the cutting blade assembly to cut and staple tissue, the retracting of the cutting blade assembly, and the opening of the jaw assembly 128 to unclamp tissue.

Referring to fig. 3, the electromotive module 110 is detachably mounted to the main module. The electromotive module 110 has an installation state and a removal state. In the installed state, the electromotive module 110 is installed to the main module, and the first housing 112 and the second housing 120 are coupled to each other to form the housing 102. The mechanical structure of the coupling is, for example, a buckle, so as to prevent the motor 122 from being separated during operation, and various manners of coupling to achieve separation prevention by using the mechanical structure are not specifically mentioned herein. In the disassembled state, the second housing 120 is disengaged from the first housing 112. The first housing 112 houses at least a portion of the transmission mechanism, such as the switching mechanism 134 and the jaw drive mechanism 148 described above.

The main module further comprises an operating member 282, the operating member 282 being connected to the transmission mechanism, the operating member 282 being arranged to obtain manual force of a user operating input and to transmit to the transmission mechanism to drive the transmission mechanism into operation. The operating member 282 is a manual module for providing manual power as described above. In the mounted state, the operating member 282 is positioned in the housing 102 formed by the mating of the first housing 112 and the second housing 120, and in the dismounted state, at least a portion of the operating member 282 is exposed. In the present invention, exposed means exposed so as to be operable or connected. In normal use of the surgical instrument 100 by the surgeon, the motorized module 110 is mounted on the main module and the surgeon operates the keys of the actuation motor at the handle 342 to cause the motor 122 to operate to drive the transmission mechanism to perform the actions of opening the jaw assembly, closing the jaw assembly, feeding the cutting blade 352 and/or retracting the cutting blade 352 while the operating member 282 is positioned within the housing 102 and the surgeon is unable to see and access the operating member 282. When the anastomat has a battery pack failure, a motor failure or other power failure, a doctor can detach the electric module 110 from the main module, the connection between the motor 122 and the transmission mechanism is released, the operation piece 282 is exposed, and the doctor can see and directly or indirectly operate the operation piece 282 to drive the transmission mechanism by manual force. The manual force of the operation member 282, the manual operation member 282, includes a force applied directly or indirectly to the operation member 282 by the hand of the operator to operate the operation member, and includes a force applied directly or indirectly to the operation member 282 by the operator using a hand-held device to operate the operation member. Thus, although the transmission mechanism can be driven by the electric power of the motor 122 and the manual power of the operation piece 282, in the invention, the position relationship between the motor 122 and the operation piece 282 is set, namely, the operation piece 282 is hidden in the installation state of the electric module 110 and can only be driven by the electric power; in the disassembled state of the electric module 110, the operation piece 282 is exposed, the motor 122 is forcedly disassembled and loosened and can only be driven by manual force, so that the electric force and the manual force can only be transmitted to the transmission mechanism at the same time to drive the anastomat to work, and the problem that the two kinds of power are simultaneously applied to the transmission mechanism to cause execution conflict of the transmission mechanism and even damage the surgical instrument 100 and hurt a patient is avoided. Such a design, simple structure, promotes the safety of the surgical instrument 100. In addition, the manual force only needs to drive the transmission mechanism, the electric module 110 is not required to be driven, the driving resistance is reduced, and the operation experience is improved. It should be understood by those skilled in the art that the number of the hidden operating elements may be one or more, for example, one operating element described below, which realizes dual functions in this embodiment, is not described in detail, for example, two operating elements, one driving jaw assembly and the other driving cutting blade assembly, and the number of the operating elements does not affect implementation of the above scheme, so that the same effect can be obtained, and the present application falls within the scope of protection.

Specifically, in this embodiment, the transmission mechanism includes an input member, and when the input member obtains electric power or manual power input, the transmission mechanism is driven to operate. The electric module 110 includes an electric power output member 306 that outputs electric power, the electric power output member 306 being connected to the input member to provide electric power input when the electric module 110 is in the installed state, the electric power output member 306 being separated from the input member when the electric module 110 is in the disassembled state. The operating member 282 includes a manual force output 288 that is coupled to the input member for inputting manual force thereto. The input member of the transmission mechanism, whether it receives manual power from the manual power output 288 or electric power from the electric power output 306, does not distinguish which power is received, so that when the user directly or indirectly operates the operating member 282, the user can make the stapler perform the same function as the motor 122, the transmission mechanism alternatively drives the jaw assembly or the cutter assembly to move, and the electric driving and the manual driving of the stapler share one set of transmission mechanism, so that the stapler has a simple structure and does not need additional special design. The transmission mechanism alternatively drives the jaw assembly or the cutter assembly to move, namely the transmission mechanism drives the jaw assembly and the cutter assembly to move at different time, only the jaw assembly or only the cutter assembly is driven in the same time period, the jaw assembly and the cutter assembly are driven by the transmission mechanism, and the time period of the movement of the jaw assembly driven by the transmission mechanism is different from the time period of the movement of the cutter assembly driven by the transmission mechanism. The switching mechanism of the transmission mechanism alternatively transmits power to the cutting driving mechanism or the jaw driving mechanism, which means that the switching mechanism does not transmit power to the cutting driving mechanism and the jaw driving mechanism at the same time, and only transmits power to the cutting driving mechanism or only transmits power to the jaw driving mechanism in the same time period, and the power driven by the cutting driving mechanism and the jaw driving mechanism is transmitted by the switching mechanism, wherein the time period of transmitting power to the cutting driving mechanism by the switching mechanism is different from the time period of transmitting power to the jaw driving mechanism.

The transmission mechanism includes a switching mechanism 134, a cutting drive mechanism 146, and a jaw drive mechanism 148, the switching mechanism includes an input member, the switching mechanism 134 selectively drives the cutting drive mechanism 146 or the jaw drive mechanism 148 when the switching mechanism 134 obtains power of one of electric power and manual power from the input member, the cutting drive mechanism 146 performs a feeding motion or a retracting motion when the cutting drive mechanism 146 obtains power, and the jaw drive mechanism 148 performs a jaw closing motion or a jaw opening motion when the jaw drive mechanism 148 obtains power. Preferably, the surgeon uses the operating member 282 to manually actuate the transmission mechanism to perform the retracting and jaw opening actions after removing the motorized module 110, and the purpose of the operating member 282 is to act as a safety mechanism in an emergency situation, so that the stapler can be released from the tissue and detached from the patient, avoiding damage to the patient by the stapler.

Specifically, as shown in fig. 29, the operation member 282 includes a manual power transmission portion 284 and a manual operation portion 286 for inputting manual power for operation by a user, the manual power transmission portion 284 includes a manual power output end 288 connected to the input member, and the manual operation portion 286 is connected to the manual power transmission portion 284. The doctor touches and operates the manual operation portion 286, inputs power to the operation piece 282, transmits the power from the manual operation portion 286 to the manual power transmission portion 284, and outputs the power from the manual power output end 288.

Further, the electric power take-off 306 is detachably connected to the operating member 282, i.e. the electric power take-off is connected to said input member via said operating member 282. Specifically, the manual power transmission part includes a transmission input end 300, and the electric power output member 306 is detachably connected to the transmission input end 300, so that electric power is transmitted to the input member through the manual power transmission part of the operation member 282, and thus the transmission structure is simple.

In this embodiment, the operation member 282 is preferably shown in fig. 29, the manual power transmission portion 284 is a rotation shaft 284', and transmits manual power in a rotating manner, one end of the rotation shaft 284' is a manual power output end 288 for outputting manual power, and the manual power output end 288 is connected with an input member of the transmission mechanism; the manual operation part 286 is a hand wheel 286', the rotation shaft 284' passes through the rotation center of the hand wheel 286', the rotation shaft 284' is integrated with the hand wheel 286', and in other embodiments, the rotation shaft 284' can be connected in a split type, and a doctor can rotate the rotation shaft 284 'by contacting and rotating the hand wheel 286', so as to output rotating power. In this embodiment, the rotation shaft 284' is integral with the shaft of the input member, but may be a separate connection in other embodiments.

Further, the rotation axis of the rotation shaft 284 'coincides with the rotation axis of the hand wheel 286', and the first end of the rotation shaft 284 'protrudes from the bottom surface of the hand wheel 286, which is the manual force output end 288, and the second end protrudes from the other bottom surface of the hand wheel 286', which is the transmission input end 300. As shown in fig. 29, the transmission input end 300 is provided with a recessed polygonal mounting opening, and the electromotive force output part of the electromotive module is a polygonal shaft, and the polygonal shaft extends into the polygonal mounting opening to be mounted in a matched manner, so that power transmission is realized. When the electric module 110 is in the installed state, the electric power output member 306 of the electric module 110 is connected to the transmission input end 300, and the electric power is transmitted to the manual force output end 288 through the operation member 282, and then transmitted to the input member of the transmission mechanism connected to the manual force output end 288. As such, the electric module 110 is connected to the input member through the operating member 282 to provide an electric power input. Optimally, when the electric module is in the installation state, the input piece, the rotating shaft 284 and the electric power output piece 306 of the electric module 110 are coaxial, and the coaxial lines can save space and simplify the structure relative to the coaxial lines.

In other embodiments, the operating member 282 is an L-shaped lever that includes a first lever, i.e., the above-described rotational shaft 284', i.e., the manual force transmitting portion 284, and a second lever, i.e., the manual operating portion 286, connected at an angle, preferably at a right angle, to the first lever. The first end of the first lever is a manual force input end 288 connected with the input member, and when the doctor operates the second lever to rotate by taking the first lever as a rotating shaft, the first lever is driven to rotate, so that the rotating power is transmitted to the input member. Further, the second end of the first rod is a connection with the first rod, the second section is provided with a transmission input end 300, and the structure and the function of implementation are the same as those described above, and will not be repeated. Those skilled in the art will appreciate that the operating member 282 is not limited to the above two embodiments, and is not limited to the above two embodiments.

The manual force transmission unit 284 has a rotation axis, and when the operation unit 282 rotates around the rotation axis, the manual force output end 288 outputs manual force, and the projection of the manual operation unit 286 on a plane perpendicular to the rotation axis is larger than the projection of the manual force transmission unit 284 on the plane, as shown in fig. 30, the projection plane a of the manual force transmission unit 284 is smaller than the projection plane a+b of the manual operation unit. The maximum radius of the manual operation portion 286 from the rotation axis is larger than the outer diameter of the manual power transmission portion 284, so that the rotation radius of the manual operation portion 286 is larger, the moment is larger, and convenience and labor saving are achieved compared with the case that a doctor directly operates the manual power transmission portion 284.

As shown in fig. 3, the first housing 112 has a peripheral housing parallel to the shaft assembly 104 and a first mounting surface 294 substantially perpendicular to the shaft assembly 104, and the first mounting surface 294 may or may not be an actual housing—the first mounting surface housing 286', but is merely a functional surface for mounting. The manual operation portion 286 protrudes from the first mounting surface 294, i.e., from the first housing 112. Thus, the manual operation portion 286 of the operation member 282 is completely exposed outside the first housing 112, and a doctor can conveniently operate the manual operation portion 286, with a simple structure. As will be readily appreciated by those skilled in the art, the manual operation portion 286 is partially located within the first housing 112, and the remainder protrudes from the first housing 112 as long as the ease of operation of the manual operation portion 286 is not affected.

Accordingly, the second housing 120 of the electric module 110 includes a second mounting surface 296, and the second mounting surface 296 may be an actual housing or may not be an actual housing, but is merely a functional surface for mounting. At the second mounting surface of the second housing 120, there is a receiving cavity, when the electric module 110 is mounted to the main body 108, the first housing 112 is mounted to the second housing 120, and the manual operation portion 286 protruding from the first housing 112 is received in the receiving cavity, and at this time, the operation member 282 is completely located in the housing 102, which is not visible to the user.

In this embodiment, referring to fig. 5, the main module further includes a first reduction gearbox 308, where a first end of the first reduction gearbox 308 is connected to the manual force output end, and a second end is connected to the input member. The reduction gearbox can reduce the input torque of the manual force input of the operation member 282, and the user can rotate the operation member 282 with a smaller force, thereby improving the operability.

The electric module 110 further includes a second reduction gearbox positioned between the electric power take-off 306 and the motor 122 for reducing the rotational speed of the motor 122 and increasing the output torque.

The surgical instrument provided by the invention is characterized in that the operating part is connected to the transmission mechanism, and the operating part is used for acquiring manual force input by a user and transmitting the manual force to the transmission mechanism, and the transmission mechanism alternatively drives the jaw assembly or the cutting knife assembly to move. In this way, unlike conventional staplers, which have two separate operating members for user operation, one operating member is used to manually drive a transmission mechanism to drive the cutting blade assembly, such as for retracting a knife, and the other operating member is used to manually drive a transmission mechanism to drive the jaw assembly, such as for releasing a jaw, which requires sequential operation of the two operating members by the surgeon during the surgical procedure, which is inconvenient. Thus, the dual-function of driving the jaw assembly and the cutting knife assembly to move is realized by using one operation piece, so that the smoothness of operation of a doctor is ensured, the operation is simple, and the operation is friendly to a user. It should be understood by those skilled in the art that an operating member is not limited to being hidden in the housing, and that the operating member can be operated by a user while being located outside the housing, and is within the scope of the present application.

Note that the above-described manual power or electric power indicates a type of power, and the power is not limited to be equal in magnitude.

In other embodiments, when the power module 110 is in the disassembled state, the operator 282 is exposed, and the doctor can also install a separate additional spare power module to the operator 282 to provide the second path of electric power to the operator 282, thereby achieving the same operation of the drive transmission mechanism, the spare power module having an output shaft connected to the operator to input the second path of electric power. The power module 110 provides a first path of power to the transmission mechanism 110 of the surgical instrument, the operating member, whether manually operated or connected with an additional standby power module, provides a standby second path of power to the transmission mechanism, and the doctor provides the second path of power to the transmission mechanism either by manually operating the operating member or by installing the additional standby power module in the operating member, wherein the second path of power is manual power or electric power (the electric power of the second path). In the embodiment, the standby power of doctors is selected variously, the manual operation is direct and simple, and the operation of the standby power module is labor-saving and convenient.

Second embodiment

The present invention also provides a second embodiment that differs from the first embodiment in that the surgical instrument 100 further includes an auxiliary operating member 310, see fig. 31. The auxiliary operating member 310 includes an auxiliary manual operating portion 314 for inputting manual force for operation by a user, and in use, the auxiliary operating member 310 is connected to the operating member 282 to transmit the input manual force to the manual force output 288.

In this embodiment, the auxiliary operation member 310 is preferably shown in fig. 31 as an auxiliary hand wheel 312, the auxiliary hand wheel 312 is a circular disc with a circular through hole in the middle, the hand wheel 286' is installed in the circular through hole, the circular disc is an auxiliary manual operation portion 314 (not shown), the doctor operates the outer ring of the circular disc to rotate the circular disc around the rotation axis of the operation member 282, the operation member 282 is driven to rotate, the manual force is input, and the auxiliary hand wheel 312 is larger than the diameters of the rotation shaft 284' and the hand wheel 286 '.

In other embodiments, the auxiliary operating member 310 may be an L-shaped lever 400 as shown in fig. 33, which includes a first lever 400a and a second lever 400b connected at an angle, preferably at a right angle, to the first lever 400 a. The first rod 400a is mounted on the rotation shaft 284', in particular, the transmission input end 300, that is, the first end of the first rod 400a is a polygonal shaft with the same structure as the electric output piece, the polygonal shaft can extend into a polygonal mounting opening of the transmission input end 300 of the rotating wheel 286 to be mounted in a matched manner, so that the L-shaped rod 400 is mounted on the hand wheel 286', the second end of the first rod 400a is connected with the second rod 400b, the second rod 400b is an auxiliary manual operation part 314, a doctor operates the second rod 400b to enable the L-shaped rod 400 to rotate around the rotation axis of the hand wheel 286', the hand wheel 286' is driven to rotate, the manual force is input, and the length of the second rod 400b is larger than the radius of the hand wheel 286 '. Those skilled in the art will appreciate that the auxiliary operating member 310 may have other forms to achieve an enlarged radius of rotation, all falling within the scope of the present application and not specifically recited herein.

When the user operates the auxiliary operation member 310, the auxiliary operation member 310 drives the operation member 282 to rotate around the rotation axis of the rotation shaft, the manual force output end 288 outputs the manual force, the projection of the auxiliary manual operation portion 314 on the plane perpendicular to the rotation axis is larger than the projection of the operation member 282 on the plane, as shown in fig. 32, when the auxiliary operation member 310 is the auxiliary hand wheel 312, the projection surface a+b of the operation member is smaller than the projection surface a+b+c of the auxiliary manual operation portion 314, that is, the maximum radius of the auxiliary manual operation portion 314 of the auxiliary operation member 310 from the rotation axis is larger than the maximum outer diameter of the operation member 282, and the rotation radius of the original operation member is enlarged by the auxiliary operation member 310, so that compared with the operation member 282 which is directly operated by a doctor, the rotation radius of the auxiliary operation member 310 is larger, thereby making the moment larger, more convenient and labor saving. It should be noted that, the auxiliary operation member 310 is sized so that it may not be accommodated in the housing 102, and the auxiliary operation member 310 may be connected to the operation member 310 when needed. The auxiliary operation member 310 is an L-shaped rod 400, which can achieve the same effect and will not be described again. On the other hand, the auxiliary operation member 310 is an L-shaped lever, and the lever is easier to operate than the hand wheel 286', and the auxiliary operation member 310 changes the operation structure of the operation member 282, thereby increasing the operation comfort, and the length of the second lever 400b is not limited to be longer than the hand wheel 286'.

Third embodiment

The present invention also provides a third embodiment, which is different from the second embodiment in that the operation piece 282 is not provided with the manual operation portion 286, the operation piece 282 includes only the manual power transmission portion 284, and the auxiliary operation piece 310 is connected to the manual power transmission portion 284 (i.e., the rotation shaft 284' in this embodiment), for example, to the transmission input terminal 300.

Specifically, as shown in fig. 34, the rotation shaft 284' is configured to protrude from the first housing 112, and when the electric module 110 is in the mounted state, the operation member 282 may be received in the receiving cavity of the second housing 120, or, as shown in fig. 35, the rotation shaft 284' does not protrude from the first housing 11, and the second end of the rotation shaft 284' does not protrude beyond Zhou Keti in the axial direction, in which case the axial length of the housing formed by the first housing and the second housing is smaller, the structure is simpler, and the cost is reduced. A hand wheel or L-bar or other auxiliary operating member 310 having a large swivel radius may be mounted to the drive input end of the rotatable shaft, expanding the swivel radius of the operation, and saving effort.

In fig. 34 to 35, the manual operation portion is not provided for the operation member to directly obtain the manual force, so that the structure is simple, and the manual force is completely inputted by the auxiliary operation member 310.

Referring to fig. 36 to 37, which are fourth embodiment of the present invention, the present embodiment relates to a surgical instrument, which is the same as the first embodiment.

In this embodiment, the surgical instrument 100 includes a jaw assembly 128, a shaft assembly 104 disposed at a proximal end of the jaw assembly 128, a cutting blade assembly coupled to a distal end of the shaft assembly 104, a transmission, a power module, and a power module. The transmission mechanism is used to drive the shaft assembly 104 in motion to drive the cutter assembly forward or backward, and/or to drive the jaw assembly 128 open or closed; the power module includes a battery pack that provides power to the power module, and in particular, to the power module 110. The power module provides power for the driving mechanism. The power module may be a motorized module 110, the motorized module 110 including a motor 122, the motorized module 110 being removably mounted to the main module of the surgical instrument 100 or fixedly mounted to the main module. The power module may be an operating element 282, and the operating element 282 may replace the electric module 110 to provide power to the transmission mechanism under the action of external force. The power module may be a combination of the operation member 282 and the electric module 110, and the specific structure, position, connection relationship, etc. of the electric module 110 and the operation member 282 are described in detail in the above first to third embodiments, and are not repeated here. The surgical instrument 100 further includes a body 108 disposed at a proximal end of the shaft assembly 104, the body 108 including a head housing 114 and a handle 342 extending downwardly from the head housing 114, at least a portion of the drive mechanism being housed in the head housing 114, the handle 342 including a handle housing 116.

In this embodiment, the shaft assembly axis a is parallel or coaxial with the power module output shaft axis b, meaning that the two axes are on a single line, i.e., the two axes are coincident. The shaft assembly axis a is parallel or coaxial with the power module output shaft axis b, so that on one hand, the overall structure is compact, on the other hand, the position and the angle of the handle are not limited by the power module, the position and the angle of the handle 342 are provided with a larger design space, the position and the angle of the handle 342 can be flexibly set, and a doctor can grasp the handle 342 conveniently, so that the surgical instrument 100 can be operated better, and the product experience is improved.

In the present embodiment, the "axis" of the movable element is explained as follows: if the movement of the element is linear movement, the axis of the element refers to the straight line where the movement track of the element is located; if the movement of the element is a rotational movement, the axis of the element refers to the line in which its rotational axis is located. When the movement of the element A and the movement of the element B are both linear movements, if at least one of the straight lines of the movement track of the element A and the straight line of the movement track of the element B are coaxial, the axis of the element A and the axis of the element B are called coaxial; if the straight line where the motion track of the element A is located is parallel to the straight line where the motion track of the element B is located, the axis of the element A is said to be parallel to the axis of the element B; when the movement of the element A is linear movement and the movement of the element B is rotary movement, if at least one of the straight lines of the movement track of the element A is coaxial with the axis of the element B, the axis of the element A is said to be coaxial with the axis of the element B; if the straight line where the motion track of the element A is located is parallel to the axis of the element B, the axis of the element A is said to be parallel to the axis of the element B.

In one embodiment, the transmission mechanism includes a first drive mechanism 146, one end of the first drive mechanism 146 is connected to the shaft assembly 104, and the other end is connected to an output shaft 168 of a power module that provides power to the first drive mechanism 146, and the first drive mechanism 146 drives the shaft assembly 104 to move forward or backward. The shaft assembly 104 includes a mandrel 124 and the cutter assembly is coupled to the mandrel 124. The first drive mechanism 146 drives the movement of the spindle 124, thereby advancing or retracting the cutter assembly. The shaft assembly axis a is the axis of the spindle 124 and the axis b of the power module output shaft is parallel or coaxial with the axis of the spindle 124. As in the first embodiment, the first driving mechanism 146 includes a first driving member, a first driven member connected to the spindle 124, a first motion conversion structure provided to the first driving member and a second motion conversion structure provided to the first driven member, the first driven member is driven by the first driving member, the first motion conversion structure cooperates with the second motion conversion structure to convert rotation of the first driving member into linear motion of the first driven member, the driven member moves to drive the spindle 124 to drive the cutter assembly to advance or retract, the first driving mechanism 146 has a first driving axis c, the first driving axis c is an axis of the first driving member or an axis of the first driven member, the axis a of the shaft assembly is coaxial with the first driving axis c, and the axis of the first driving member or the axis of the first driven member is coaxial with the axis a of the shaft assembly. By the design, the whole structure is more compact, and space is saved. In one embodiment, the first driving member is a lead screw 186, the first driven member is a nut 188, and the first motion conversion structure and the second motion conversion structure are both threaded; the screw rod 186 drives the nut 188 to move linearly during rotation. In order to prevent the nut 188 from following the rotation of the screw 186 and not moving linearly, a nut rotation preventing structure is further provided, and the specific structure is the same as that of the first embodiment and will not be described again here. Of course, in other embodiments, the first driving member, the first driven member, and the first motion conversion structure may be other structures, for example, the first driving member is a gear, the first driven member is a rack, the first motion conversion structure and the second motion conversion structure are teeth, and the first driving mechanism further includes a helical gear assembly or a bevel gear, where one end of the helical gear assembly or the bevel gear is connected to the output shaft of the power module, and the other end of the helical gear assembly or the bevel gear is meshed with the gear. The specific connection structure between the cutter assembly and the spindle 124, and the specific connection structure between the spindle 124 and the nut 188 are the same as those of the first embodiment, and will not be described again here.

In another embodiment, the transmission mechanism includes a second drive mechanism 148, one end of the second drive mechanism 148 is coupled to the shaft assembly 104 and the other end is coupled to an output shaft 168 of a power module that provides power to the second drive mechanism 148, and the second drive mechanism 148 drives the jaw assembly 128 open or closed. The shaft assembly 104 includes a sleeve 126, and the sleeve 126 is coupled to the jaw assembly as previously described. The second drive mechanism 148 drives movement of the sleeve 126, thereby causing the jaw assembly 128 to open or close. The shaft assembly axis a is the axis of the sleeve 126 and the axis b of the power module output shaft is parallel or coaxial with the sleeve 126 axis. In one embodiment, the second drive mechanism 148 includes a second driving member, a second driven member driven by the second driving member, and a second motion transfer mechanism. The second motion transfer mechanism is connected at one end to the jaw assembly 128 and at the other end to a second follower. The second driving member is provided with a third motion conversion structure, the second driven member is provided with a fourth motion conversion structure, the third motion conversion structure and the fourth motion conversion structure are matched to convert the rotation of the second driving member into the linear motion of the second driven member, and the second driven member moves to drive the sleeve 126 of the second motion transmission mechanism to move. The second motion transfer mechanism has a first axis and a second axis; the first axis intersects or is out of plane with the shaft assembly axis, the second axis is coaxial with the shaft axis, and the first axis and the second axis together form the axis of the second motion transfer mechanism. The second drive mechanism 148 has a second drive axis d that is coaxial with the shaft assembly axis a after intersecting first in parallel with the cutter assembly advancement direction. The second driving axis d is an axis formed by sequentially connecting the axis of the second driving member, the axis of the second driven member and the axis of the second motion transmission mechanism. By the design, the whole structure is more compact, and space is saved. The second driving member is a first cam member 224, the second driven member is a second cam member 234, the third motion conversion structure is a first cam surface 226, the fourth motion conversion structure is a second cam surface 236, the second motion conversion transmission mechanism includes a connecting rod 248 and a pressing ring 250, the first cam surface 226 and the second cam surface 236 cooperate to convert the rotation of the first cam member 224 into the linear motion of the second cam member 234, one end of the connecting rod 248 is pivotally connected with the second cam member 234, the other end is pivotally connected with the pressing ring 250, the second cam member 234 moves to drive the connecting rod 248 to move with the pressing ring 250, and then drive the sleeve 126 to move to open the jaw assembly 128, at this time, the first axis is the connecting rod 248 axis, and the second axis is the pressing ring 250 axis. The specific structure of the second drive mechanism 148, and the specific implementation of the movement of the sleeve 126 to open or close the jaw assembly 128, is the same as in the first embodiment and will not be described again. In another embodiment, the second drive mechanism comprises a lead screw nut mechanism. In yet another embodiment, the second drive mechanism comprises a rack and pinion mechanism, and further comprises a helical gear assembly or bevel gear having one end coupled to the power module output shaft and the other end engaged with the gear.

In another embodiment, the transmission mechanism includes a first drive mechanism 146 and a second drive mechanism 148, and the transmission mechanism is coupled to the shaft assembly 104 for driving the movement of the shaft assembly 104 to advance or retract the cutter assembly (i.e., the cutter assembly advances or retracts), and driving the shaft assembly 104 to move to drive the jaw assembly 128 open or closed. To satisfy the operational logic relationship between the opening and closing actions of the jaw assembly 128 and the feeding and retracting actions of the cutting blade assembly, i.e., the movement of the jaw assembly 128 and the movement of the cutting blade assembly cannot be performed simultaneously, and in sequence therebetween, the drive mechanism of the surgical instrument 100 further includes a switching mechanism. One end of the switching mechanism is connected to the power module output shaft 168 and the other end is connected to the first drive mechanism 146 and the second drive mechanism 148. The switching mechanism comprises a first state and a second state, and the switching mechanism drives the second driving mechanism 148 to move under the driving of the power module in the first state; in the second state, the switching mechanism drives the first driving mechanism 146 to move under the driving of the power module. That is, in the first state, the second drive mechanism 148 drives the jaw assembly 128 open or closed while the first drive mechanism 146 does not drive the cutter assembly forward or rearward, and in the second state, the first drive mechanism 146 drives the cutter assembly forward or rearward while the second drive mechanism 148 does not drive the jaw assembly 128 open or closed. The first drive mechanism 146 has a first drive axis c and the second drive mechanism 148 has a second drive axis d, the first and second drive axes c and d being coaxial after intersecting first in parallel with each other in the direction of advance of the cutter assembly. By the design, the whole structure is more compact, and space is saved. The first driving mechanism 146 and the second driving mechanism 148 are the same as those of the above-mentioned embodiments, and in the scheme that the shaft assembly axis a is coaxial with the power module output shaft axis b, the switching mechanism is the same as that of the first embodiment, and will not be described again here; in the case where the shaft assembly axis a is parallel to the power module output shaft axis b, part of the structure of the switching mechanism is different from that of the first embodiment, and is described herein. Specifically, referring to fig. 36 and 8, the switching mechanism includes a clutch member, and an input member and an output member engaged with the clutch member, the input member is mounted to an output shaft 168 of the power module, the output member includes a first output member engaged with the first drive mechanism 146 and a second output member engaged with the second drive mechanism 148. The input member is a main driving gear 166, the first output member is a first driving gear 170, the second output member is a second driving gear 172, and the input member and the clutch member are integrally formed. Clutch members including a first clutch member 154, a second clutch member 156, wherein the first clutch member 154 includes a first effective transition structure 158 and a first idle transition structure 160, and the second clutch member 156 includes a second effective transition structure 162 and a second idle transition structure 164; in the first state, the second active travel structure 162 drives the second drive mechanism 148 to move, and the first idle travel structure 160 is coupled to the first drive mechanism 146; in the second state, the first active travel structure 158 drives the first drive mechanism 146 in motion, and the second idle travel structure 164 is coupled to the second drive mechanism 146. The first and second effective transfer structures 158 and 162 are toothed portions, and the first and second idle transfer structures 160 and 164 are toothless portions, which are disposed adjacent to each other. Compared with the first embodiment, the intermediate part is reduced, the input part and the clutch part are integrally formed, and the power output by the power module is transmitted to the clutch part through the input part, so that primary transmission is reduced, and the transmission efficiency is further improved; and the structure is more compact. Of course, it will be appreciated that the intermediate member 152 may not be eliminated, and that the positions of the power module and the input member connected to the power module output shaft may be changed so that the power module output shaft axis b is parallel to the shaft assembly axis a, in addition to the first embodiment.

To further enhance the use experience of the surgical instrument 100, the position of the handle 342 is set to fit a person

In a physical engineering manner, which facilitates better grasping and manipulation of the surgical instrument 100 by a surgeon, in this embodiment, referring to fig. 2, the handle 342 extends downwardly along the head housing 114, has a handle axis m along which it extends, and the head housing 114 has a head housing axis n along a longitudinal direction, which is a direction from the proximal end of the surgical instrument 100 toward its distal end, or from its distal end toward its proximal end, and which is parallel to the axis of the shaft assembly 104. The head housing axis n is parallel or coaxial with the shaft axis a. The motor 122 is disposed within the housing 102 with the handle axis m disposed at a predetermined angle θ with the head housing axis n ranging from 60 degrees to 80 degrees, preferably at 70 degrees or 75 degrees.

In this embodiment, the shaft assembly axis a is parallel or coaxial with the power module output shaft axis b, which is also beneficial for separating the electric module 110 from the main module of the surgical instrument 100, the electric module 110 can be separated from the main module to facilitate the replacement of the motor 122, and the operation member 282 can provide power for the driving mechanism under the action of external force after the electric module 110 is separated from the main module of the surgical instrument 100, so as to realize the retracting of the cutter assembly and the opening and closing actions of the jaw assembly 128, thereby improving the safety and avoiding the damage to human body caused by the failure of the surgical instrument 100. Specifically, when the electromotive module 110 is separated from the main module, the operation member 282 can provide power to the driving mechanism under the external force. The specific structure of the operation member 282 is described in detail in the first to fifth embodiments, and will not be described here. The connection structure between the power module 110 and the main module of the surgical instrument 100, the operation member 282, and how the operation member 282 is operated by the external force to achieve the retracting and opening of the jaw assembly 128 are also described in detail in the first to third embodiments, and will not be repeated herein.

Referring to fig. 38, a fifth embodiment of the present invention, which is the same as the first embodiment, is directed to a surgical instrument, specifically a surgical instrument 100.

The difference between the present implementation and the fourth embodiment or the first embodiment is that the shaft assembly axis a forms a preset angle with the power module output shaft axis b that is not 90 degrees. The shaft assembly axis a is set to be a preset included angle which is not 90 degrees with the power module output shaft axis b, compared with the shaft assembly axis a and the power module output shaft axis b which are set to be 90 degrees, namely, the shaft assembly 104 is perpendicular to the power module output shaft axis, so that on the one hand, the overall structure is more compact, on the other hand, when the motor 122 is accommodated in the accommodating space formed by the handle shell 116, the handle 342 and the shaft assembly 104 are obliquely arranged, so that a doctor can grasp the handle 342 conveniently, the surgical instrument 100 can be operated better, and the product experience is improved.

Also to further enhance the feel of the use experience of the surgical instrument 100, the handle 342 is positioned ergonomically for better grasping and handling of the surgical instrument 100 by the surgeon, and the predetermined angle between the shaft assembly axis a and the power module output shaft axis b is in the range of 60 degrees to 80 degrees, preferably 70 degrees or 75 degrees. The motor 122 is accommodated in an accommodation space formed by the handle housing 116, and the battery pack may be provided in an accommodation space formed by the head housing 114 or in an accommodation space formed by the handle housing 116.

In this embodiment, with continued reference to FIG. 38, the surgical instrument 100 further includes a steering mechanism 348, one end of the steering mechanism 348 being coupled to the output shaft 168 of the power module and the other end being coupled to the transmission mechanism, the power output by the power module having a first power output direction and the power output by the transmission mechanism having a second power output direction; steering mechanism 348 is used to convert the first power output direction to a second power output direction. The first power output direction is the extending direction of the axis of the output shaft of the power module, and the second power output direction is the extending direction of the axis of the input piece of the transmission mechanism. In one embodiment, steering mechanism 348 includes a bevel gear assembly, and in another embodiment steering mechanism 348 includes a bevel gear.

In this embodiment, the electric module 110 may also be detachably mounted to the main module of the surgical instrument 100, and the electric module 110 and the main module are detachably mounted to facilitate the replacement of the motor 122, and after the electric module 110 is detached from the main module of the surgical instrument 100, the operation member 282 may provide power for the driving mechanism under the action of external force, so as to realize the opening of the jaw assembly 128 and the retracting action, so that the damage to the human body caused by the inability of the jaw assembly 128 to be opened and the retracting action to be performed when the surgical instrument 100 fails is avoided, and thus the safety of the surgical instrument 100 is also improved. Specifically, when the electric module 110 is detached from the main module, the operating member 282 can provide power to the driving mechanism under the action of external force. The connection structure between the electric module 110 and the main module, the structure of the operation member 282, and the structure of the operation member 282 are described in detail in the first to third embodiments, and are not described here again.

It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.

The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims

1. A surgical instrument comprising a switching mechanism, a cutting drive mechanism, and a cutting actuator; the switching mechanism comprises a clutch mechanism and an output piece; the cutting driving mechanism comprises a driving piece and a driven piece, the driving piece comprises a first motion conversion structure, the driven piece comprises a second motion conversion structure, the driving piece and the driven piece realize the conversion of a motion mode through the first motion conversion structure and the second motion conversion structure, and the rotation of the driving piece is converted into the linear movement of the driven piece; the driven piece is connected with the cutting executing mechanism; the output piece is connected with the driving piece, and the clutch mechanism selectively drives the output piece to selectively drive the driving piece.

2. The surgical instrument of claim 1, further comprising a power module, the cutting drive mechanism having a cutting drive direction, a central axis of an output shaft of the power module extending in the same direction as the cutting drive direction.

3. The surgical instrument of claim 1, wherein the driving member comprises a proximal end and a distal end, and wherein the driven member has a linear travel, the region in which the linear travel is located being away from the proximal end in a direction from the proximal end toward the distal end.

4. A surgical instrument according to any one of claims 2 and 3, wherein the driving member is a lead screw, the driven member is a nut, and the first and second motion translating structures are each threaded.

5. The surgical instrument of claim 4, wherein the nut includes a stop feature, the surgical instrument further comprising a stop that cooperates with the stop feature to limit rotation of the nut.

6. The surgical instrument of claim 1, wherein the cutting drive mechanism further comprises an acceleration mechanism disposed between the output member and the active member.

7. The surgical instrument of claim 1, wherein the clutch mechanism comprises an intermediate member and a clutch member, the intermediate member driving the clutch member, the clutch member selectively cooperating with the output member to selectively drive the output member.

8. The surgical instrument of claim 7, wherein the clutch member includes an active transition structure for cooperating with the output member and an idle transition structure for coupling with the output member.

9. The surgical instrument of claim 8, wherein the output member is a gear; the effective transfer structure is a toothed portion, and the idle transfer structure is a toothless portion.

10. The surgical instrument of claim 1, wherein the switching mechanism further comprises an input that drives the clutch mechanism; the surgical instrument further includes a power module coupled to the input member.

11. The surgical instrument of claim 1, further comprising a jaw drive mechanism and a jaw actuator, the jaw drive mechanism being coupled to the jaw actuator; the output piece comprises a first output piece and a second output piece, the first output piece is connected with the driving piece, and the second output piece is connected with the jaw driving mechanism; the clutch mechanism selectively drives the first output member to selectively drive the driving member, and the clutch mechanism selectively drives the second output member to selectively drive the jaw drive mechanism.

12. The surgical instrument of claim 11, wherein the clutch mechanism comprises an intermediate member and a clutch member, the clutch member comprising a first clutch member and a second clutch member, the intermediate member driving the first clutch member and the second clutch member, the first clutch member selectively cooperating with the first output member to selectively drive the first output member, the second clutch member selectively cooperating with the second output member to selectively drive the second output member.

13. The surgical instrument of claim 12, wherein the first clutch comprises a first active transition structure for cooperating with the first output member and a first idle transition structure for coupling with the first output member; the second clutch member comprises a second effective transfer structure and a second idle transfer structure, wherein the second effective transfer structure is used for being matched with the second output member, and the second idle transfer structure is used for being coupled with the second output member.

14. The surgical instrument of claim 13, wherein the first output member and the second output member are gears; the first effective transfer structure and the second effective transfer structure are toothed parts, and the first idle transfer structure and the second idle transfer structure are toothless parts.

15. The surgical instrument of claim 1, wherein the cutting drive mechanism further comprises a motion transfer mechanism, the follower being coupled to the cutting implement by the motion transfer mechanism.

16. The surgical instrument of claim 15, wherein the cutting implement comprises a push-blade and a cutting blade, a proximal end of the push-blade being coupled to the motion transfer mechanism and a distal end of the push-blade being coupled to the cutting blade.

17. A surgical instrument as recited in any one of claims 15 and 16, wherein the motion transfer mechanism is a mandrel.